The type specimens for Chalicotherium goldfussi were found in the Upper Miocene strata of the Dinotherien-sande beds near Eppelsheim, in the Grand Duchy of Hesse, Germany.
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Later on, limbs found in strata located at Sansan in the department of Gers, Southwestern France, were first described as Macrotherium by Édouard Lartet in 1837.
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The type species, Chalicotherium goldfussi, from Miocene and Pliocene Europe, was described by Johann Jakob Kaup in 1833 and since then 7 other species have been confidently assigned to this genus.